Human telehaptic perception of stiffness using an adaptive impedance reflection bilateral teleoperation control scheme

Velanas, SV; Tzafestas, CS

dc.contributor.author	Velanas, SV	en
dc.contributor.author	Tzafestas, CS	en
dc.date.accessioned	2014-03-01T02:46:49Z
dc.date.available	2014-03-01T02:46:49Z
dc.date.issued	2010	en
dc.identifier.uri	https://dspace.lib.ntua.gr/xmlui/handle/123456789/32877
dc.subject	Adaptive impedance control	en
dc.subject	Psychometric curves	en
dc.subject	Psychophysics	en
dc.subject	Stiffness perception	en
dc.subject	Telehaptics	en
dc.subject.other	Impedance control	en
dc.subject.other	Psychometric curves	en
dc.subject.other	Psychophysics	en
dc.subject.other	Stiffness perception	en
dc.subject.other	Tele-haptics	en
dc.subject.other	Delay control systems	en
dc.subject.other	Physics	en
dc.subject.other	Psychophysiology	en
dc.subject.other	Remote control	en
dc.subject.other	Stiffness	en
dc.subject.other	Time delay	en
dc.title	Human telehaptic perception of stiffness using an adaptive impedance reflection bilateral teleoperation control scheme	en
heal.type	conferenceItem	en
heal.identifier.primary	10.1109/ROMAN.2010.5598677	en
heal.identifier.secondary	http://dx.doi.org/10.1109/ROMAN.2010.5598677	en
heal.identifier.secondary	5598677	en
heal.publicationDate	2010	en
heal.abstract	In present days, teleoperation is used in many challenging applications where the tasks to be accomplished from a distance are very complex and require accurate and reliable reproduction of the haptic sensations involved. The main factor that can cause a certain degradation of the quality of teleoperation is the presence of time delays. An effective way of alleviating the consequences of time-delays is the use of an adaptive impedance reflection teleoperation scheme, aiming to reconstruct at the master site a local model of the impedance of the remote environment. The goal of this paper is to show the effectiveness of such a controller via experiments that involve a real remote environment. In these experiments, a forcedchoice procedure has been used, where each subject is presented in every trial with two spring fields (remotely located and telehaptically perceived) and is asked to identify the stiffer. The proposed adaptive teleoperation control scheme is compared to a typical direct force-reflection telemanipulation, in the presence of an emulated time delay of 100 msec. Experimental results show the superior performance of the proposed adaptive impedance reflection scheme, which, as opposed to classical direct teleoperation, seems to maintain the thresholds of human haptic perception close to the ones obtained when no time delay is present in the bilateral communication and control loop. © 2010 IEEE.	en
heal.journalName	Proceedings - IEEE International Workshop on Robot and Human Interactive Communication	en
dc.identifier.doi	10.1109/ROMAN.2010.5598677	en
dc.identifier.spage	21	en
dc.identifier.epage	26	en